A Jamming-resilient Algorithm for Self-triggered Network Coordination

The issue of cyber-security has become ever more prevalent in the analysis and design of cyber-physical systems. In this paper, we investigate self-triggered consensus networks in the presence of communication failures caused by Denial- of-Service (DoS) attacks. A general framework is considered in which the network links can fail independent of each other. By introducing a notion of Persistency-of-Communication (PoC), we provide an explicit characterization of DoS frequency and duration under which consensus can be preserved by suitably designing time-varying control and communication policies. An explicit characterization of the effects of DoS on the consensus time is also provided. The considered notion of PoC is compared with classic average connectivity conditions that are found in pure continuous-time consensus networks. Finally, examples are given to substantiate the analysis.